Dynamic route planning

ABSTRACT

The present invention relates to a method for determining the location of a firer, furthermore a system and method for route planning ( 700 ). The system is arranged to be mounted on a moving object. The system comprises a position module ( 702 ), a firer location estimation module ( 704 ) and a route planning module ( 705 ). The position module ( 702 ) is arranged register the present position of the moving object at request and to determine the travel path of the moving object during a predetermined time period preceding the request, wherein the present position represents a target position for firing. The firer location method and the estimation module ( 704 ) is arranged to estimate the location of a firer based on the registered position and the determined travel path and based on map data ( 701 ) comprising 3D geographical coordinates data. The route planning module ( 705 ) arranged to plan a route of the object based on the determined location of the firer.

TECHNICAL FIELD

The present invention relates to a system and a method for re-route planning.

BACKGROUND ART

There is known in the art for route planning and re-route planning.

U.S. Pat. No. 7,848,879 shows a system for determining a course of action for an aerial vehicle. The system handles different type of threats. The threats are related to a predetermined threshold time for maximum safe visibility by a vehicle. The system is arranged to detect threats, to store a planned route for the vehicle, to determine types of threats detected and to utilize the predetermined threshold times to for each threat detected by the vehicle to determine whether the planned route may safely enter visibility range of each threat detected by the vehicle and to determine a first elapsed time that the planned route brings the vehicle within the visibility range of a first threat detected by the vehicle.

SUMMARY OF THE INVENTION

One object of the present invention is to enable improved route planning.

This has in accordance with one example been achieved by means of a method for determining the location of a firer. The method comprises the steps of

-   -   a) determine the position of an object at the detection of         firing against the object,     -   b) estimate a plurality of positions for the object during a         predetermined time period preceding the firing     -   c) estimate the location of a firer based on a three dimensional         map data and based on the determined position of the vehicle at         the firing and the plurality of positions of the object during         the predetermined time period preceding the firing.

In one option, in step c), the location of the firer is estimated from line of sight calculations based on the assumption that the object has been visible to the firer substantially during the whole predetermined time period.

In one option, the steps a), b) and c) are continuously updated during firing so as to refine the estimated location of the firer.

The present invention also relates to a method for re-route planning for an object moving according to a route to a planned destination. The method comprises the steps of determining the location of a firer in the manner described above and perform re-route planning based on the determined location of the firer.

In one option, the step of performing the re-route planning comprises determining a firing area around the location of the threat based on the 3D map data, and re-plan the route based on the extension of the firing area.

In one option, the route is re-planned so as to avoid said firing area.

In one option, the step of performing the re-route planning comprises the step of calculating a route to a destination based on the three dimensional map so as to minimize exposure from any point in the map during the predetermined time period.

In one option, the step of performing the re-route planning comprises determining potential threat areas in the 3D map in which the object will be exposed to a potential threat during a predetermined time period based on line of sight calculations, and determining a re-planned route based on said potential threat areas.

In one option, the step of performing the re-route planning comprises determining threat areas in which the object will be exposed to an identified threat during a predetermined time period, and determining a re-planned route based on said threat areas.

In one option, the calculation of the re-planned route comprises determining safe areas in the map in which the object will be exposed during a predetermined time period from a safe location in the map, and determining a re-planned route based on said safe areas.

In one option, the re-route planning is based on terrain constraints such as hills, rivers, forests or other obstacles which may prevent the object from moving unhindered.

In one option, the re-planned route is calculated based on time constraints.

The present invention also relates to a system for route planning arranged to be mounted on a moving object. The system comprises: The system comprises a position module, a firer location estimation module and a route planning module. The position module is arranged register the present position of the moving object at request and to determine the travel path of the moving object during a predetermined time period preceding the request, wherein the present position represents a target position for firing. The firer location estimation module is arranged to estimate the location of a firer based on the registered position and the determined travel path and based on map data comprising 3D geographical coordinates data. The route planning module arranged to plan a route of the object based on the determined location of the firer.

In one option, the moving object is a ground based object.

In one option, the moving object is a vehicle.

In one option, the firer location estimation module is arranged to estimate the location of the firer based on line of sight calculations using the assumption that the object has been visible to the threat substantially during the whole predetermined time period.

In one option, the route planning module is arranged to determine a firing area reachable from the estimated firer location based on the 3D map data and line of sight calculations, and to plan the route so as to avoid said firing area.

In one option, the route planning module is arranged to re-plan the route based on the extent of the firing area and based on the 3D map data.

In one option, the route planning module is arranged to calculate a route to the planned or a re-planned destination based on the 3D map data, wherein occasions of being visible from any point in the map within a shooting range during a second predetermined time period is minimized.

In one option, the route planning module is arranged to determine areas in the map in which the object will be exposed to a potential threat during a predetermined time period based on line of sight calculations, and determining a re-planned route avoiding said potential threat areas.

In one option, the system further comprises a communication module arranged to transmit firing area data to other objects and/or to receive firing area data from other objects.

In one option, the route planning module is arranged to receive firing data related to other objects from the communication module and to calculate the re-planned route based on these firing areas.

In one option, the route planning module is arranged to determine safe areas in the 3D map in which the object will be exposed during a predetermined time period from a safe location in the map, and determining a re-planned route based on said safe areas.

In one option, a computer programme comprises a programme code for determining the location of a firer. The computer program comprises the steps of

-   -   determine the position of an object at the detection of firing         against the object,     -   estimate a plurality of positions for the object during a         predetermined time period preceding the firing     -   estimate the location of a firer based on a three dimensional         map data and based on the determined position of the vehicle at         the firing and the plurality of positions of the object during         the predetermined time period preceding the firing.

In one option, a computer progamme comprises a programme code for re-route planning for an object moving according to a route to a planned destination, comprising the steps of

-   -   determining the location of a firer according to to above,     -   perform re-route planning based on the determined location of         the firer.

In one option, a computer programme product may comprise a programme code stored on a, by a computer readable, media for determining the location of a firer. The computer programme is arranged to execute the steps of

-   -   determine the position of an object at the detection of firing         against the object,     -   estimate a plurality of positions for the object during a         predetermined time period preceding the firing     -   estimate the location of a firer based on a three dimensional         map data and based on the determined position of the vehicle at         the firing and the plurality of positions of the object during         the predetermined time period preceding the firing when said         computer programme is run on a computer.

In one option, a computer programme product may comprise a programme code stored on a, by a computer readable, media for re-route planning for an object moving according to a route to a planned destination. The computer programme is arranged to execute the steps of

-   -   determining the location of a firer according to the above,     -   perform re-route planning based on the determined location of         the firer when said computer programme is run on a computer.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates the topology of a terrain with a vehicle moving along a path in the terrain.

FIG. 2 illustrates a determined location a firer in the terrain.

FIG. 3 illustrates a determined shooting area in the terrain.

FIG. 4 illustrates a re-route around the shooting area.

FIG. 5 illustrates identified threats marked in a 3D map of a terrain.

FIG. 6 illustrates potential threats marked in a 3D map of a terrain.

FIG. 7 is a block scheme for an example of a system for route planning.

FIG. 8 is a flow chart illustrating an example of a method for determining the location of a firer.

FIG. 9 is a flow chart illustrating an example of a method for route planning.

FIG. 10 is a flow chart illustrating an example of steps performed for re-planning a route.

FIG. 11 is a block scheme illustrating an example of a system for providing knowledge about the environment.

DETAILED DESCRIPTION

In FIG. 1, at least one object 101 is moving in a terrain. The object may be a vehicle. The vehicle may for example be a ground based vehicle such as heavy vehicles. The heavy vehicle may for example be a truck, a bus or a tank or a ground based unmanned vehicle. The ground based vehicle may also be a car, a motor bike etc. The vehicle may also be an aerial vehicle such as a military or commercial aircraft, an Unmanned Aerial Vehicle (UAV), a helicopter etc. The moving object may be a person. The moving object may be moving into unknown territories with no personal knowledge about the terrain, roads, hostile military forces etc. In FIG. 1, more than one vehicle is illustrated. The positions for one of the objects during a predetermined time period preceding the current time are marked as a path 102.

In FIG. 11, the moving object is provided with a system 1100 for providing knowledge about the environment. In the illustrated example, the system comprises a communication module 1111 for communication with a command and control system 1113 supporting with information about hostile forces and their locations and movements, about areas with limited navigability etc. For example, some roads can carry less heavy vehicles and some roads may hold for heavier vehicles. Further, there may for example flooded areas where no vehicle can pass.

Further, the system may comprise storage 1101 for a 3D map and a display 1109 for display of information extracted from said 3D map. The map is a 3D map comprising 3D coordinate data given in a geo-referenced coordinate system. The 3D map may further be textured. The 3D map comprises a 3D model of the environment. The 3D model may comprise substantially all visible surfaces (above a certain size) in the environment seen from any angle. Thus, substantially all surfaces in the environment exceeding a certain size are associated to 3D coordinate data given in the geo-referenced coordinate system. Further, also texture data may be associated to all surfaces in the environment exceeding a certain size. The geo-referenced coordinate data may comprise latitude data, longitude data and height data and may be associated to texture information. The data may have an accuracy of one or a few meters, preferably in the range of decimetres. In one example, the accuracy is one decimetre or higher. The required accuracy in the model depends on the size of the object moving in the terrain. To sum up, the 3D map provides a correct coordinates in a geo-referenced coordinate system.

The display 1109 may be arranged to present 3D map data so as to support selection of a route which is as safe as possible. The 3D map presentation may also be used for visualizing information related to indentified or potential threats along the route as the moving object is moving along its route. In one example, identified threats reported in from the command and control system may be visualized in the 3D map. For example, areas related to locations of identified threats may be marked on the display 1109. Also audio equipment 1112 may be present which can alarm when the moving object is approaching an identified threat as reported from the command and control system. FIG. 5 illustrates a map with identified threats in the terrain.

Further, the 3D map data may be processed in a processing unit 1114 based on the route of the moving object. The processing may then be performed so as to determine potential threats, i.e. areas in the terrain within reach for firing from hostile forces, where the moving object is visible during a time period long enough so that the potential hostile forces have time to aim and fire at the moving object. This processing is performed by estimating the route, if route data is not available, and based on this data perform line of sight calculations in the 3D map to find positions/zones from which the moving object is visible during a predetermined period long enough to perform aiming and firing. These areas may be marked in the 3D map presented by the display 1109 as potentially dangerous areas. Thus, the system 1100 for providing knowledge about the environment may provide essential information for enhancing the safety of a route of the moving object.

FIG. 6 illustrates potential threats in association to a plurality of possible roads selections.

The object may be moving according to a pre-planned route. A system for route planning 1105 is arranged to be mounted onboard or in association to the moving object. The system for route planning has access to a GPS receiver 1106 and the above described 3D map data 1101, and accordingly to 3D map data associated to a region in which the route is intended to be performed.

Further, the system 1100 for providing knowledge about the environment comprises a control unit 1110. On one example, the control system is arranged to control the system to continuously follow t the object as the object is moving. The system is arranged to use information received from a command and control system 1113 related to identified threats to alert for example via the display and/or the audio equipment when identified threats are approached. Further, the control unit 1110 may also be arranged to control processing so as to determine and alert about potential threats as the object travels forwards along its route. As described above, the determination of potential threats involves determining areas in the terrain within reach for firing from hostile forces, where the moving object is visible during a time period long enough so that the potential hostile forces have time to aim and fire at the moving object. Line of sight calculations may be used for determining the potential threats.

Characteristically, the object is moving according to a planned route to a destination. The system may have access to information related to the planned route. Further, the control unit 1110 may be arranged to receive instructions for example related to a new destination. The information related to the new destination may be received for example from the command and control system 1113. Alternatively, the new destination may be selected by way of manual input via a user interface (not shown). The route planning module 1105 may then be arranged to calculate at least one potential route to the destination. The route planning may be performed in at least two steps. In a first step, a plurality of available routes are determined based on the identified threat areas. Thereafter, a cost may be associated to each of the available routes. The cost may be based on the exposure to potential threats, i.e. exposure to areas in the terrain within reach for firing from hostile forces, where the moving object is visible during a time period long enough so that the potential hostile forces have time to aim and fire at the moving object. The cost may also be based on for example time constraints and/or terrain constraints and/or fuel constraints. In the case wherein a plurality of objects are travelling together, for example a convoy, the costs associated to each selectable route may be based on the fact that it is a whole convoy that is moving to the destination. In one example, the route planner may be arranged to evaluate the costs of separating the convoy into smaller groups taking different routes.

In one example, the route planner is arranged to present the available routes along with information related to the cost(s) for each route. The information presented related to costs could in one example comprise time to destination, time exposed to potential threats, closest distance to identified threat etc. One route can then be selected based on manual input. Alternatively, the route planning module 1105 is arranged to automatically select one route.

In FIG. 2, a location or location zone 203 of a threat has been established. We will in this disclosure denote this threat as a firer. The term firer is intended to be interpreted broadly and include for example one single firer or a group of firers having small arms weapons or heavier weapons, one or a group of tankers or robots or an entire military set-up. The firer location has been identified based on line of sight calculations using information related to the 3D map and the present position of the object and its path during the predetermined time period and based on the assumption that the object has been visible to the firer substantially during the whole predetermined time period. Thus, these line of sight calculations have been used to identify one or a plurality of positions/zones from which the object has been visible during substantially the whole time period. If more than one position/zone has been identified based on the line of sight calculations, then additional information need to be provided in order to identify from which position/zone the firing occurred. If no such information is available, then all locations/zones may be handled as a firing location/zone.

In FIG. 3, line of sight calculations has again be used in the 3D map in order to determine a firing area 304 which can be reached by ammunition from the firer based on the identified location/zone 203 of the firer, Thus, in determining the firing area, the topology of the terrain can be accounted for by means of the 3D map. The line of sight calculations may be based on other line of sights than a straight line. For example, a line of sight formed as a ballistic trajectory of ammunition may be used. Further, information related to the range of information used by the firer may also be accounted for in determining the firing area. If no information about the ammunition is available, a preset range for the ammunition may be used in determining the firing area. Additional information of the firer may also be accounted for in determining the firing area, such as movability and/or ability of re-directing the weapon. As is seen in the figure, the route 305 of the object leads through the firing area 304

In FIG. 4, reroute planning has been made so as to determine a path 706 or direction away from the threat based on the determined firing area.

In FIG. 5, the reroute planning comprises further finding alternative routes based on a plurality of identified threat areas 807.

In FIG. 6, a number of potential threat areas 908 has been determined based on the alternative routes and a cost has been associated to each alternative route. As described above, the potential threat areas are areas in which the object within reach for firing and is visible for a longer time period than desirable.

In FIG. 7, a system for route planning 700 is arranged in association to an object such as a vehicle. The system is arranged to make re-route planning based on 3D map data 701 and based on line of sight calculations related to the route of the object within the terrain as illustrated by the map. The system may comprise among other things a position module 702, a firing detection module 703, a firer location estimation module 704, and a route planning module 705.

The position module 702 is arranged to register the present position of the moving object at request and to determine the travel path of the moving object during a predetermined time period preceding the request. The present position may represent a target position for firing. The request is generated upon fire detection. A GPS receiver 706 may be operationally connected to the position module. The GPS receiver 706 may be arranged to feed position and optionally also time information to the position module 702 at least upon request. Other types of receivers may be used instead of or in addition to the GPS receiver 706 for providing coordinate data in a geo referenced coordinate system to the position module 702.

The position module 702 is in one example operatively connected to a route log module 707. The route log module 707 records continuously the path of the moving object. At least records from within the predetermined time period are stored in the route log module 707. Alternatively, the whole or a major part of the route is stored in the route log module 707. In one example, the route log module 707 is arranged to store time referenced coordinate data in the geo-referenced coordinate system. In an alternative or complementary example, the position module 702 is arranged to determine the travel path of the moving object during a predetermined time period preceding the request by fetching route data from the route data storage 708 comprising route data for the planned route. The route data storage 708 may comprise optionally time referenced coordinate data comprising the coordinates for a destination, the start point and the route between the start point and the destination.

The firing detection module 703 is arranged to detect firing at the object. The firing detection module 703 may comprise a manually activated switch, button or the like. Upon activation, a request signal is fed to the position module 702. Alternatively or in addition thereto, the firing detection module 703 may comprise an automatic fire detection system automatically feeding the request signal to the position module 702 upon detection of firing. In an alternative example, the firing may be detected by a fire detection system. The automatic firing detection system may for example comprise a receiver for reception of audio signals, chock signals, image signals, radar signals etc. A signal processor for processing of said audio signals, chock detection signals, image signals and/or radar signals is then arranged to determine if firing has occurred based on said signal(s). The firing detection module 703 may also be arranged to determine type of ammunition and/or weapon type for the fire. The signal processor may then for example be arranged to compare received characteristics signals with characteristics of a library of characteristics for different types of ammunition/weapons. Further, the signal processor for processing of said audio signals, chock detection signals, image signals and/or radar signals may be arranged to localize firing based on said signal(s).

The firer location estimation module 704 is arranged to estimate the location of a firer based on the registered position and the determined travel path during the predetermined time period. In detail, the firer location estimation module 704 is arranged to perform line of sight calculations from each point of the path during the predetermined time interval including the present position in a 3D map comprising geo referenced coordinate data with high accuracy. The accuracy may be in the region of decimetres. Based in these line of sight calculations, locations or zones in the 3D map are determined from which the object has been visible at least during parts of the path during the predetermined time period.

The route planning module 705 may be arranged to plan a route of the object based on the determined location of the firer. The route planning module may be arranged to determine the route based on the danger of the firer and/or to plan the route so as to provide a re-planned route to the destination or a re-planned destination. Data related to the re-planned route may be stored in the route data storage 708.

The route planning module 705 is arranged to determine a firing area reachable from the estimated firer location based on the 3D map data 701 and line of sight calculations, and to plan the route so as to avoid said firing area. These line of sight calculations may be based on a line of sight formed as a straight line or for example a ballistic trajectory. If ammunition/weapon type has been detected by the firing detection module 703, then the route planning module 705 may be arranged to determine the firing area also based on this information. Based on the determined firing area and based on the 3D map data 701, a direction or path out of the firing area may be determined. This information may be feed to a display 709 or to a control unit 710 for control of the object.

The route planning module 705 is further arranged to determine a re-planned route to the destination or a re-planned destination and to feed data related to the planned or re-planned destination to the route data storage 708. In detail, the route planning module 705 is arranged to calculate a route to the planned or re-planned destination based on the 3D map data 701, wherein occasions of being visible from any point in the map during a second predetermined time period is minimized. The route planning module 705 may then be arranged to determine areas in the map in which the object will be exposed to a potential threat during a predetermined time period based on line of sight calculations, and determining a re-planned route avoiding said potential threat areas.

The system may comprise a communication module 711 arranged to transmit firing area data to other objects and/or to receive firing area data from other objects. If data has been received related to firing areas other than that/those detected by the system for re-planning of the object itself, this data should be taken into account in the re-planning. The route planning module 705 may also be arranged to determine safe areas in the 3D map in which the object will be exposed during a predetermined time period from a safe location in the map, and determining a re-planned route based also on said safe areas.

In FIG. 8, a method for determining the location of a firer 800 comprises a first step of determining the position of an object 802 at the detection of firing against the object. The firing can in one example be detected by a person and thus the first step of the method may be manually activated. In an alternative example, the firing may be detected by a fire detection system. In accordance with this example, the first step may be automatically activated. The firing detection system may for example be audible based, based on chock detection or based on visual detection. A combination of said detection methods can also be used. In the first step, the position of the object is in one example determined by receiving and registering a coordinate from a satellite based positioning system, such as a GPS.

In a second step, a plurality of positions for the object during a predetermined time period preceding detection of the firing are determined, to determine the path 803. In one example, the object arranged to log its route. The log comprises in one example time referenced position data. The time referenced position data may be received from a satellite based positioning system, such as GPS. In accordance with this example, the positions of the object during the predetermined time period are collected from the log during the step second step. In an alternative example, route data is used for providing the positions of the object during the predetermined time period. The predetermined time period is in one example a preset value based on an estimated time for detecting the object and aiming a weapon. If information is available about type of weapon and/or ammunition, then the predetermined time period may be selected based on that information. In one example, the selection of the predetermined time period is based on information detected by the fire detection system.

In a third step, the possible locations of the firer are estimated 804 based on 3D map data 701 and based on the position of the object at the firing (determined in the first step 802 and the plurality of positions of the object during the predetermined time period preceding the firing determined in the second step 803. The location of the firer may be estimated from line of sight calculations based on the assumption that the object has been visible to the threat substantially during the whole predetermined time period. Thus, the estimation of the position of the firer involves finding one or a plurality of positions or zones from which line of sight has existed substantially during the whole predetermined time period. The first 802, second 803 and third 804 steps may be continuously updated during firing so as to refine the estimated possible locations of the firer

In FIG. 9, a method for re-route planning 900 for an object moving according to a route to a planned destination comprises the following steps. In a first step, the possible location of a firer is determined 901 based for example using the method as described in relation to FIG. 5. Thereafter re-route planning is performed 902 based on the determined possible location of the firer 901. The re-route planning comprises a selection of or all of the steps described below.

In FIG. 10, the re-route planning 1000 first handles the threat from the detected firer. In a firing area determination step 1001, a firing area around the location of the firer is determined based on the 3D map data 701. Thus, this step may involve performing line of sight calculations from the location of firer based on the 3D map so as to provide the target area. The target area may be determined based on line of sight calculations in an area covering a full turn of 360° around the location of the firer. Alternatively, the target area may be determined based on line of sight calculations in an area covering a part of a turn around the location of the firer. In one example, the line of sight is defined as a straight line. In another example, the line of sight is defined by an imagined trajectory of the ammunition in use. For example for ballistic ammunition, the line of sight is defined by a ballistic trajectory.

Then, in a re-plan step 1002, the route is re-planned so as to find a route out of the firing area which is as safe as possible. In one example, a control system of the object is arranged to automatically control the object in a direction leading out of the firing area. This involves calculating the direction leading out of the firing area based on the extent of the firing area, based on physical constraints of the performance of the object, and optionally also based on the 3D map. In an extended example, the control system of the object is arranged to calculate a path leading out of the firing area and automatically control the object according to this path. Alternatively, the direction is presented so that the object can be manually controlled out of the firing area based on said presented direction. In an extended example, a complete trajectory can be presented so that the object can be manually controlled out of the firing area based on said path leading out of the firing area. In this step, it may be necessary of re-plan the destination for the route. If the re-routing to avoid the firing area takes the object to a position from which it is not advisable to go to an original destination, a new destination may be selected. This selection may for example be based on fuel consumption, travel distance and travel time to the destination.

When the intended destination has been established, the method for re-route planning comprises a step of determining identified threat areas 1003. In one example, wherein the re-route planning has not been caused by firing, the method may start in this step. In the step of determining identified threat areas 1003, a portion of the 3D map is selected, comprising the present position of the object and the destination. The information related to the threat areas may for example have been reported in as an intelligence report from command and control. Information related to threat areas can also be provided via communication from other objects as areas in which they have been exposed to firing, i.e. information related to threat areas correspond to the above described firing areas. The threat areas are associated to their locations in the selected portion of the 3D map. A number of available routes can then be determined based thereon. If no information is available related to threat areas, a number of available routes can be determined based on other criteria such as time to destination, fuel consumption, road conditions etc.

In a following step 1004, potential threats are identified. The potential threat areas are in one example identified as areas in the map in which the object will be exposed to a potential threat during a predetermined time period based on line of sight calculations in said 3D map. The alternative routes may then be evaluated based on said potential threat areas. The re-route planning 1006 comprises then calculating a route to said destination based on the 3D map and the potential threat areas in said 3D map so as to minimize occasions of being visible from any point in the map during a predetermined time period. The time period may be selected based on a number of reasons. For example, which type of object the moving object is, velocity of the object, information about whether the object travels alone or in a group or a convoy.

The re-route planning can be performed in other ways than the herein described, but generally avoidance of the threat areas has first priority and avoidance of the potential threat areas has second priority.

The calculation of the re-planned route may also comprise a step of determining safe areas 1005 in the map in which the object will be exposed during a predetermined time period from a safe location in the map. The re-planning step is then performed based also on said safe areas.

In the re-route-planning step 1006 for planning the route to the destination, account may also be taken to terrain constraints such as hills, rivers, forests and/or other obstacles which may prevent the object from moving unhindered. Re-route planning may in addition to the above also be based on time constraints, fuel constraints and/or for minimize the length of the route.

The re-route planning step 1006 is in one example performed by forming a plurality of alternative routes based on the determined identified threat areas, potential threat areas and safe areas. One route may then be selected associated to a lowest cost, wherein the costs are determined based on at least some of the following criteria: determined identified threat areas; potential threat areas; terrain constraints such as hills, rivers, forests and/or other obstacles which may prevent the object from moving unhindered; time constraints; fuel constraints and/or for minimizing the length of the route.

Data associated to the re-planned route may then be fed to a system for control of the object. Alternatively, the data associated to the re-planned route or a plurality of available alternative routes may be presented on a display 709 for manual control of the object based on said presentation. The route may also be presented as coordinate data and control data for manual input to the control system.

A computer programme for example arranged to be executed processing means of the system in FIG. 7 comprises a programme code for determining the location of a firer (800). The computer program comprises the steps of

-   -   determine the position of an object (802) at the detection of         firing against the object (801),     -   estimate a plurality of positions for the object (803) during a         predetermined time period preceding the firing     -   estimate the location of a firer (804) based on a three         dimensional map data and based on the determined position of the         vehicle at the firing and the plurality of positions of the         object during the predetermined time period preceding the         firing.

A computer progamme for example arranged to be executed processing means of the system in FIG. 7 comprises a programme code for re-route planning for an object moving according to a route to a planned destination, comprising the steps of

-   -   determining the location of a firer according to to above,     -   perform re-route planning based on the determined location of         the firer.

A computer programme product may comprise a programme code stored on a, by a computer readable, media for determining the location of a firer (800). The computer programme is arranged to execute the steps of

-   -   determine the position of an object (802) at the detection of         firing against the object (801),     -   estimate a plurality of positions for the object (803) during a         predetermined time period preceding the firing     -   estimate the location of a firer (804) based on a three         dimensional map data and based on the determined position of the         vehicle at the firing and the plurality of positions of the         object during the predetermined time period preceding the firing         when said computer programme is run on a computer.

A computer programme product may comprise a programme code stored on a, by a computer readable, media for re-route planning for an object moving according to a route to a planned destination. The computer programme is arranged to execute the steps of

-   -   determining the location of a firer according to the above,     -   perform re-route planning based on the determined location of         the firer when said computer programme is run on a computer.

The foregoing description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to understand the invention for various embodiments and with the various modifications as are suited to the particular use contemplated. 

1-25. (canceled)
 26. Method for determining the location of a firer (800), said method comprising the steps of: determining the position of a moving object (802) at the detection of firing against the object (801); estimating a plurality of positions for the moving object (803) during a predetermined time period preceding the firing; and estimating the location of a firer (804) based on a three dimensional map data and based on the determined position of the moving object at the firing and the plurality of positions of the moving object during the predetermined time period preceding the firing, wherein the location of the firer (804) is estimated from line of sight calculations based on the assumption that the moving object has been visible to the firer substantially during the whole predetermined time period.
 27. Method according to claim 26, wherein the each of the three steps are continuously updated during firing so as to refine the estimated location of the firer.
 28. Method for re-route planning (900) for an object moving according to a route to a planned destination, said method comprising the steps of: determining the location of a firer (901) according to claim 26; and performing re-route planning (902) based on the determined location of the firer.
 29. Method for re-route planning according to claim 28, wherein the step of performing the re-route planning (1000) comprises: determining a firing area around the location of the threat based on the 3D map data (1001); and re-planning the route based on the extension of the firing area (1002).
 30. Method according to claim 29, wherein the route is re-planned (1000) so as to avoid said firing area.
 31. Method for re-route planning (1000) according to claim 28, wherein the step of performing the re-route planning comprises the step of calculating a route to a destination based on the three dimensional map so as to minimize exposure from any point in the map during the predetermined time period.
 32. Method according to claim 28, wherein the step of performing the re-route planning (1000) comprises: determining potential threat areas (1004) in the 3D map in which the object will be exposed to a potential threat during a predetermined time period based on line of sight calculations; and determining a re-planned route based on said potential threat areas.
 33. Method according to claim 28, wherein the step of performing the re-route planning (1000) comprises: determining threat areas in which the object will be exposed to an identified threat (1003) during a predetermined time period; and determining a re-planned route based on said threat areas.
 34. Method according to claim 28, wherein the calculation of the re-planned route (1000) comprises: determining safe areas (1005) in the map in which the object will be exposed during a predetermined time period from a safe location in the map; and determining a re-planned route based on said safe areas.
 35. Method according to claim 28, wherein the re-route planning (1000) is based on terrain constraints selected from the at least one of hills, rivers, forests, or other obstacles which may prevent the object from moving unhindered.
 36. Method according to claim 28, wherein the re-planned route (1000) is calculated based on time constraints.
 37. System for route planning (700) arranged to be mounted on a moving object, said system comprising: a position module (702) configured to register the present position of the moving object at request and to determine the travel path of the moving object during a predetermined time period preceding the request, wherein the present position represents a target position for firing; a firer location estimation module (704) configured to estimate the location of a firer based on the registered position and the determined travel path and based on map data (701) comprising 3D geographical coordinates data, wherein the firer location estimation module (704) is further configured to estimate the location of the firer based on line of sight calculations using the assumption that the object has been visible to the threat substantially during the whole predetermined time period; and a route planning module (705) configured to plan a route of the object based on the determined location of the firer.
 38. System according to claim 37, wherein the moving object is a ground based object.
 39. System according to claim 37, wherein the moving object is a vehicle.
 40. System according to claim 37, wherein the route planning module (705) is configured to: determine a firing area reachable from the estimated firer location based on the 3D map data (701) and line of sight calculations; and plan the route so as to avoid said firing area.
 41. System according to claim 37, wherein the route planning module (705) is configured to re-plan the route based on the extent of the firing area and based on the 3D map data (701).
 42. System according to claim 37, wherein the route planning module (706) is configured to calculate a route to the planned or a re-planned destination based on the 3D map data (701), wherein occasions of being visible from any point in the map within a shooting range during a second predetermined time period is minimized.
 43. System according to claim 42, wherein the route planning module (706) is configured to: determine areas in the map in which the object will be exposed to a potential threat during a predetermined time period based on line of sight calculations; and determine a re-planned route avoiding said potential threat areas.
 44. System according to claim 37, further comprising a communication module (711) configured to at least one of transmit firing area data to other objects or receive firing area data from other objects.
 45. System according to claim 37, wherein the route planning module (706) is configured to: receive firing data related to other objects from the communication module (711); and calculate the re-planned route based on these firing areas.
 46. System according to claim 37, wherein the route planning module (706) is configured to: determine safe areas in the 3D map (701) in which the object will be exposed during a predetermined time period from a safe location in the map; and determine a re-planned route based on said safe areas.
 47. A computer program product for determining the location of a firer, the computer program product comprising at least one non-transitory computer-readable storage medium having computer-readable program code portions stored therein, the computer-readable program code portions comprising: an executable portion configured to determine the position of a moving object (802) at the detection of firing against the moving object (801); an executable portion configured to estimate a plurality of positions for the moving object (803) during a predetermined time period preceding the firing; and an executable portion configured to estimate the location of a firer (804) based on a three dimensional map data and based on the determined position of the moving object at the firing and the plurality of positions of the moving object during the predetermined time period preceding the firing, wherein the location of the firer (804) is estimated from line of sight calculations based on the assumption that the moving object has been visible to the firer substantially during the whole predetermined time period.
 48. A computer program product for re-route planning for an object moving according to a route to a planned destination, the computer program product comprising at least one non-transitory computer-readable storage medium having computer-readable program code portions stored therein, the computer-readable program code portions comprising: at least one executable portion configured to determine the location of a firer according to claim 47; and an executable portion configured to perform re-route planning (902) based on the determined location of the firer.
 49. A computer program product for determining the location of a firer (800), the computer program product comprising at least one non-transitory computer-readable storage medium having computer-readable program code portions stored therein, the computer-readable program code portions comprising: an executable portion configured to determine the position of a moving object (802) at the detection of firing against the moving object (801); an executable portion configured to estimate a plurality of positions for the moving object (803) during a predetermined time period preceding the firing; an executable portion configured to estimate the location of a firer (804) based on a three dimensional map data and based on the determined position of the moving object at the firing and the plurality of positions of the moving object during the predetermined time period preceding the firing, wherein: the location of the firer (804) is estimated from line of sight calculations based on the assumption that the moving object has been visible to the firer substantially during the whole predetermined time period; the executable portions are run on a computer.
 50. A computer program product for re-route planning for an object moving according to a route to a planned destination, the computer program product comprising at least one non-transitory computer-readable storage medium having computer-readable program code portions stored therein, the computer-readable program code portions comprising: at least one executable portion configured to determine the location of a firer according to claim 49; and an executable portion configured to perform re-route planning (902) based on the determined location of the firer when said executable portion is run on said computer. 